botchain/firmware
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/firmware.git synced 2026-07-08 17:47:21 +02:00
Code Issues Packages Projects Releases Wiki Activity

able to write and read from nvs; completed topology test main

Browse Source
This commit is contained in:
superkor
2026-01-24 22:17:27 -05:00
parent 5124c97b76
commit 1576c73f3a
8 changed files with 181 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files

96
components/movements/TopologyManager.cpp
View File

@@ -204,18 +204,90 @@ esp_err_t TopologyManager::get_curr_topology(std::unordered_map<uint16_t, std::v
return ESP_OK;
}
// esp_err_t TopologyManager::write_nvs_topology(){
// if (!ready){
// return ESP_ERR_INVALID_STATE;
// }
// return ESP_OK;
// }
esp_err_t TopologyManager::write_nvs_topology(){
if (!ready){
return ESP_ERR_INVALID_STATE;
}
// esp_err_t TopologyManager::get_nvs_topology(struct Topology& topology){
// if (!ready){
// return ESP_ERR_INVALID_STATE;
// }
// return ESP_OK;
// }
Flatbuffers::SerializedMessage m = builder.build_topology(topology);
ESP_LOGI(TOPOLOGY_DEBUG_TAG, "Saving topology blob...");
esp_err_t res = nvs_set_u32(handle, MOVEMENTS_NVS_TOPOLOGY_DATA_SIZE_KEY, static_cast<uint32_t>(m.size));
res = nvs_commit(handle);
if (res != ESP_OK) {
ESP_LOGE(TOPOLOGY_DEBUG_TAG, "Failed to commit data size");
return res;
}
res = nvs_set_blob(handle, MOVEMENTS_NVS_TOPOLOGY_KEY, m.data, m.size);
if (res != ESP_OK){
ESP_LOGE(TOPOLOGY_DEBUG_TAG, "Failed to write to nvs");
return res;
}
res = nvs_commit(handle);
if (res != ESP_OK) {
ESP_LOGE(TOPOLOGY_DEBUG_TAG, "Failed to commit topology");
return res;
}
return ESP_OK;
}
esp_err_t TopologyManager::get_nvs_topology(std::unordered_map<uint16_t, std::vector<std::pair<uint8_t, uint16_t>>>& topology){
if (!ready) {
return ESP_ERR_INVALID_STATE;
}
size_t size = 0;
esp_err_t res = nvs_get_u32(handle,MOVEMENTS_NVS_TOPOLOGY_DATA_SIZE_KEY, reinterpret_cast<uint32_t*>(&size));
if (res != ESP_OK) {
ESP_LOGE(TOPOLOGY_DEBUG_TAG, "Failed to read data size");
return res;
}
std::vector<uint8_t> buffer(size);
res = nvs_get_blob(handle, MOVEMENTS_NVS_TOPOLOGY_KEY, buffer.data(), &size);
if (res != ESP_OK) {
ESP_LOGE(TOPOLOGY_DEBUG_TAG, "Failed to read blob");
return res;
}
// Verify the FlatBuffer
flatbuffers::Verifier verifier(buffer.data(), buffer.size());
if (!Topology::VerifyTopologyInfoBuffer(verifier)) {
ESP_LOGE(TOPOLOGY_DEBUG_TAG, "FlatBuffer verification failed");
return ESP_ERR_INVALID_ARG;
}
// Parse root
const Topology::TopologyInfo* topo = Topology::GetTopologyInfo(buffer.data());
topology.clear();
// Replace neighbours() with your actual accessor name
auto neighbours = topo->boards();
for (const auto* nb : *neighbours) {
uint16_t board_id = nb->curr_board_id();
std::vector<std::pair<uint8_t, uint16_t>> connections;
connections.reserve(nb->neighbour_connections()->size());
for (const auto* conn : *nb->neighbour_connections()) {
connections.emplace_back(conn->channel(), conn->board_id());
}
topology.emplace(board_id, std::move(connections));
}
return ESP_OK;
}
#endif //MOVEMENTS